• 한국해양공학회지
• /
• 제27권6호
• /
• pp.56-64
• /
• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.

• Steel and Composite Structures
• /
• 제45권6호
• /
• pp.819-830
• /
• 2022

This paper presented an experimental study of the bond-slip behavior of reactive powder concrete (RPC)-filled square steel tube. A total of 18 short composite specimens were designed forstatic push-out test, and information on their failure patterns, load-slip behavior and bond strength was presented. The effects of width-to-thickness ratio, height-to-width ratio and the compressive strength of RPC on the bond behavior were discussed. The experimental results show that:(1) the push-out specimens remain intact and no visible local buckling appears on the steel tube, and the interfacial scratches are even more pronounced at the internal steel tube of loading end; (2) the bond load-slip curves with different width-to-thickness ratios can be divided into two types, and the main difference is whether the curves have a drop in load with increasing slip; (3) the bond strength decreases with the increase of the width-to-thickness ratio and height-width ratio, while the influence of RPC strength is not consistent; (4) the slippage has no definite correlation with bond strength and the influence of designed parameters on slippage is not evident. On the basis of the above analysis, the expressions of interface friction stress and mechanical interaction stress are determined by neglecting chemical adhesive force, and the calculation model of bond strength for RPC filled in square steel tube specimens is proposed. The theoretical results agree well with the experimental data.

• Journal of Mechanical Science and Technology
• /
• 제14권8호
• /
• pp.867-878
• /
• 2000

In order to study unsteady aerodynamic loads on high speed trains passing by each other 350km/h, three-dimensional flow fields around trains during the crossing event are numerically simulated using three-dimensional Euler equations. Roe's FDS with MUSCL interpolation is employed to simulate wave phenomena. An efficient moving grid system based on domain decomposition techniques is developed to analyze the unsteady flow field induced by the restricted motion of a train on a rail. Numerical simulations of the trains passing by on the double-track are carried out to study the effect of the train nose-shape, length and the existence of a tunnel on the crossing event. Unsteady aerodynamic loads-a side force and a drag force-acting on the train during the crossing are numerically predicted and analyzed. The side force mainly depends on the nose-shape, and the drag force depends on tunnel existence. Also. a push-pull (i.e.impluse force) force successively acts on each car and acts in different directions between the neighborhood cars. The maximum change of the impulsive force reaches about 3 tons. These aerodynamic force data are absolutely necessary to evaluate the stability of high speed multi-car trains. The results also indicate the effectiveness of the present numerical method for simulating the unsteady flow fields induced by bodies in relative motion.

• Journal of Biosystems Engineering
• /
• 제37권3호
• /
• pp.155-165
• /
• 2012

This study was performed to offer the data for design of the seedling bed transfer equipment to make the automation of working process in a plant factory. The seedling bed transfer equipment pushing the seedling bed with bearing wheels on the rail for interconnecting each working process by a pneumatic cylinder was made and examined. The examined transfer force to push the seedling bed with a weight of 178.9 N by the pneumatic cylinder with length of 60 cm and section area of 5 $cm^2$ was measured by experiments. The examined transfer forces was compared with theoretical ones calculated by the theoretical formula derived from dynamic system analysis according to the number of the seedling bed and pushing speed of the pneumatic cylinder head at no load. The transfer function of the equipment with the input variable as the pushing speed $V_{h0}$(m/s) and the output variable as the transfer force f(t)(N) was represented as $F(s)=(V_{h0}/k)(s+B/M)/(s(s^2+Bs/M+1/(kM))$ where M(kg), k(m/N) and B(Ns/m) are the mass of the bed, the compression coefficient of the pneumatic cylinder and the dynamic friction coefficient between the seedling bed and the rail, respectively. The examined transfer force curves and the theoretical ones were represented similar wave forms as to use the theoretical formular to design the device for the seedling bed transfer. The condition of no vibration of the transfer force curve was $kB^2>4M$. The condition of transferring the bed by the repeatable impact and vibration force according to difference of transfer distance of the pneumatic cylinder head from that of the bed was as $Ce^{-\frac{3{\pi}D}{2\omega}}<-1$, where ${\omega}=\sqrt{\frac{1}{kM}-\frac{B^2}{4M^2}}$, $C=\{\frac{\frac{B}{2M}-\frac{1}{kB}}{\omega}\}$, $D=\frac{B}{2M}$. The examined mean peak transfer force represented 4 times of the stead state transfer force. Therefore it seemed that the transfer force of the pneumatic cylinder required for design of the push device was 4Bv where v is the pushing speed.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제6권2호
• /
• pp.347-360
• /
• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

• KIEAE Journal
• /
• 제12권5호
• /
• pp.93-98
• /
• 2012

The headed studs those are used extensively for steel-composite construction is specified as SS400 at the current Korean Standard specification considering the welding condition. And the corresponding equation for the shear force calculation is limited for the use of compression strength of concrete below $300kg/cm^2$. However, it is expected that the high strengthening and precast of both steel and concrete due to the necessity of shear connector or other connecting material for the combination of steel and concrete. Therefore, the experimental results obtained during the development process of high strength stud for the connection of high strength concrete and the steel member are reported in this paper. Also the effectiveness of newly developed shear connector using pipe to increase the stiffness of a stud is verified by comparing both the stiffness and the strength with common stud bolt through the welding ability, mechanical characteristics and experimental investigation.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 1999년도 봄 학술발표회 논문집(I)
• /
• pp.513-518
• /
• 1999

The objective of this experiment is to observe the elastic and inelastic behaviors of high-rise reinforced concrete frame with infilled masonry. To do this a building frame designed according to Korean seismic code and detailed in the Korean conventional manner was selected. An 1:12 scale plane masonry-infilled frame model was manufactured according to similitude law. Push-over test were performed under the roof displacement control. To simulate the earthquake effect, the lateral force distribution was maintained to be an inversed triangular by using whiffle tree. From the tests, story displacements, lateral story forces, local plastic rotations and the relations between inter-story drift versus story shear are obtained. Based on the test results, conclusions on the characteristics of the elastic and inelastic behaviors of a high-rise reinforced concrete frame with infilled masonry are drawn.

• International Journal of Railway
• /
• 제3권1호
• /
• pp.1-6
• /
• 2010

The steel plate-girder bridges with concrete gravity piers have possibilities of overturning by lateral inertial force which can be reproduced by sudden earthquake attack. This paper explores an overturning mechanism of existing concrete gravity pier onto the sandy soil in the event of lateral push-over load by in-situ experimental observation. The in-situ push-over experiment for pier with earth anchors between spread footing and rock beds exhibits a reasonable enhancement of ductility against overturning. In unanchored system, a flexural crack at cold joint of concrete pier is not developed because of the over-turning of the pier. This leads a global instability (rotation) of pier-footing system with relatively low stresses in pier itself. While a lateral load is persistently increased in anchored system, the successive flexural cracking failure at cold joint is observed even after the local shear failure of soil due to redistribution of stress equilibrium between soil and pier structure as long as a tensile action of anchor cable is active.

• Steel and Composite Structures
• /
• 제30권2호
• /
• pp.141-147
• /
• 2019

Fire is one of the environmental parameters affecting the structure causing element internal forces to change, as well as reducing the strength of the materials. One of the common types of floors in tall steel structures is the steel concrete composite slab. Shear connectors are used in steel and concrete composite beam in various shapes also has played significant role in a burning fire event of building with a steel concrete composite beam. The current study has reviewed the effects of temperature raising on the angle connector behavior through the use of push out tests and monotonic static force. The results have shown (1) the ductility of the samples is acceptable based on EC4 standard; (2) temperature raising has reduced the stiffness; (3) the shear ductility increment; and (4) the shear capacity reduction. Also, the amount of angle shear connector resistance has been decreased from 18.5% to 41% at ambient temperature up to $850^{\circ}C$.

• Steel and Composite Structures
• /
• 제42권4호
• /
• pp.477-487
• /
• 2022

The shear stiffness of headed-stud shear connectors has no unified definition due to the nonlinear characteristics of its load-slip relationship. A unified framework was firstly adopted to develop a general expression of shear load-slip equation for headed-stud shear connectors varying in a large parameter range based on both force and energy balance. The pre- and post-yield shear stiffness were then determined through bilinear idealization of proposed shear load-slip equation. An updated and carefully selected push-out test database of 157 stud shear connectors, conducting on studs 13~30mm in diameter and on concretes 30~180 MPa in cubic compressive strength, was used for model regression and sensitivity analysis of shear stiffness. An empirical calculation model was also established for the stud shear stiffness. Compared with the previous models through statistical analysis, the proposed model demonstrates a better performance to predict the shear load-slip response and stiffness of the stud shear connectors.